EtherCAT MINI

Settings and Operation

Status LED

1. EtherCAT Status Monitor LED
LED indicates communication status of EtherCAT.
Name Color Function Explanation
RUN Green OFF State INIT or Power OFF
Blinking State PRE-OPERATIONAL
Single Flash State SAFE-OPERATIONAL
ON State OPERATIONAL
Flickering State BOOTSTRAP
ERR Red OFF No Error or Power OFF
Blinking Invalid Configuration
Single Flash Local Error
Double Flash Watchdog Time Out
LA1/
LA2
Green OFF Link not Established
ON Link Established
Flickering Link Established and in Operation
2. Drive Status LED
Status LED
Disable ST1 :  
ST2 :
ST1 light flashing, ST2 light off
Enable ST1 :  
ST2 :
ST1 light on, ST2 light off
In motion ST1 :  
ST2 :  
ST1 light on, ST2 light on
In-position deviation ST1 :  
ST2 :    
ST1 and ST2 light alternately flashing
Alarm ST1 :
ST2 :  
ST2 light flashing repeatedly as many as alarm number
◆ Protection functions and LED flash times
Times Protection Conditions
1 Over Current Error The current through power devices in inverter exceeds the limit value*1
2 Over Speed Error Motor speed exceeds 3,000 [rpm]
3 Position Tracking Error Position error value is higher than 180˚ in motor run state*2
4 Over Load Error The motor is continuously operated more than 5 seconds under a load exceeding the max. torque
5 Over Temperature Error Inside temperature of drive exceeds 85℃
6 Over Regeneratived Voltage Error Back-EMF is higher than limit value*3
7 Motor Connect Error The power is ON without connection of the motor cable to dre
8 Encoder Connect Error Cable connection error in Encoder connection of drive
10 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds
12 ROM Error Error occurs in parameter storage device(ROM)
15 Position Overflow Error Position error value is higher than 180˚ in motor stop state*2
* 1 : Limit value depends on motor model. (Refer to the Manual)
* 2 : Default value can be changed by parameter. (Refer to the Manual)
* 3 : Voltage limit of Back-EMF depends on motor model. (Reefr to the Manual)
※ Please refer to user Manual for the details of protection functions.
Alarm LED flash
(Ex, Position tracking error)

Connector

1. Input/Output Signal Connector(CN1)
NO. Function I/O
1 EXT_24VDC Input
2 EXT_GND Input
3 BRAKE+ Output
4 BRAKE- Output
5 LIMIT+ Input
6 LIMIT- Input
NO. Function I/O
7 ORIGIN Input
8 Digital In1 Input
9 Digital In2 Input
10 Digital In3 Input
11 Digital Out1 Output
12 Digital Out2 Output
2. Encoder Connector(CN2)
NO. Function I/O
1 A+ Input
2 A- Input
3 B+ Input
4 B- Input
5 Z+ Input
NO. Function I/O
6 Z- Input
7 5VDC Output
8 GND Output
9 F. GND ----
10 F. GND ----
3. Motor Connector(CN3)
NO. Function I/O
1 A Phase Output
2 B Phase Output
3 /A Phase Output
4 /B Phase Output
4. Power Connector(CN4)
NO. Function I/O
1 24VDC Input
2 GND Input
5. EtherCAT Communication Connector(CN5, CN6)
NO. Function
1 TD+
2 TD-
3 RD+
4 RD-
5 F.GND
6. USB Connector(CN7)
NO. Function
1 VBUS
2 D-
3 D+
4 ----
5 GND

Connector Specifications

Connector specifications for cabling to drive.
Purpose Item Part Number Manufacturer
EtherCAT Communication
(CN5, CN6)
Housing
Terminal
PAP-05V-S
SPHD-001T-P0.5
JST
Power
(CN4)
Housing
Terminal
43025-0200
43030-0001
MOLEX
Motor Drive Side
(CN3)
Housing
Terminal
43025-0400
43030-0001
MOLEX
Motor Side Housing
Terminal
5557-04R
5556T
MOLEX
Encoder Side Drive Side
(CN2)
Housing
Terminal
501646-1000
501648-1000(AWG 26~28)
MOLEX
Encoder Side Housing
Terminal
SMP-09V-NC
SHF-001T-0.8BS
JST
Signal
(CN1)
Housing
Terminal
501646-1200
501648-1000(AWG 26~28)
MOLEX
※ Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.